//
//  Rover.h
//  SSE
//
//  Created by Matt Roman on 10/11/07.
//  Copyright 2007 __MyCompanyName__. All rights reserved.
//

#import <Cocoa/Cocoa.h>
#import "Waypoint.h"
#import "definitions.h"

@interface Rover : NSObject {
	
	roverProperties	robot;
	Vector3D	heading;			// heading unit vector
	laserScanner	bodyLaser;
	laserScanner	panelLaser;
	laserScanner	profileLaser;
}

- (roverProperties *)getRobotProperties;
- (void)setRoverPosition:(Point3D)pos;
- (Point3D *)roverPosition;
- (Vector3D *)roverHeading;
- (NSString *)stateString;
- (NSString *)errorString;
- (NSString *)turnString;
- (laserScanner*)bodyLaser;
- (laserScanner*)panelLaser;
- (laserScanner*)profileLaser;

- (void)configLaser:(laserScanner*)lazer;

- (void)testLaser:(laserScanner*)scanner type:(SenseType)t;

@end
